FairportRobotics
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RoboLib
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Fix warnings

This commit is contained in:
Tyler Wilcox 2026-01-29 21:54:53 -05:00
parent b269ce00bd
commit 51cd3df642
3 changed files with 14 additions and 10 deletions
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10
lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveBuilder.java
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@ -2,12 +2,14 @@ package org.fairportrobotics.frc.robolib.drivesystems.swerve;
import java.util.ArrayList; import java.util.ArrayList;
import com.ctre.phoenix6.CANBus;
import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation2d;
public class SwerveBuilder { public class SwerveBuilder {
ArrayList<SwerveModule> modules = new ArrayList<SwerveModule>(); ArrayList<SwerveModule> modules = new ArrayList<SwerveModule>();
String canBusName = "rio"; CANBus canBusObj;
private double maxAngularVelRadiansSecond = 1.0; private double maxAngularVelRadiansSecond = 1.0;
private double maxLinearVelMetersSecond = Math.PI; private double maxLinearVelMetersSecond = Math.PI;
@ -24,7 +26,7 @@ public class SwerveBuilder {
} }
public SwerveBuilder withCanbusName(String canBusname) { public SwerveBuilder withCanbusName(String canBusname) {
this.canBusName = canBusname; this.canBusObj = new CANBus(canBusname);
return this; return this;
} }
@ -56,7 +58,7 @@ public class SwerveBuilder {
} }
public SwerveDriveSubsystem build() { public SwerveDriveSubsystem build() {
return new SwerveDriveSubsystem(pigeonId, canBusName, maxLinearVelMetersSecond, maxAngularVelRadiansSecond, return new SwerveDriveSubsystem(pigeonId, canBusObj, maxLinearVelMetersSecond, maxAngularVelRadiansSecond,
modules.toArray(size -> new SwerveModule[size])); modules.toArray(size -> new SwerveModule[size]));
} }
@ -184,7 +186,7 @@ public class SwerveBuilder {
public SwerveModule build() { public SwerveModule build() {
return new SwerveModule(driveMotorId, driveKP, driveKI, driveKD, driveKV, driveInverted, steerMotorId, steerKP, steerKI, return new SwerveModule(driveMotorId, driveKP, driveKI, driveKD, driveKV, driveInverted, steerMotorId, steerKP, steerKI,
steerKD, steerKS, steerKV, steerKA, steerKD, steerKS, steerKV, steerKA,
steerEncoderId, steerOffset, canBusName, moduleLocation, gearRatio, wheelDiameterInMeters, steerEncoderId, steerOffset, canBusObj, moduleLocation, gearRatio, wheelDiameterInMeters,
moduleName); moduleName);
} }

5
lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSubsystem.java
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@ -2,6 +2,7 @@ package org.fairportrobotics.frc.robolib.drivesystems.swerve;
import java.util.Arrays; import java.util.Arrays;
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.Pigeon2; import com.ctre.phoenix6.hardware.Pigeon2;
@ -34,7 +35,7 @@ public class SwerveDriveSubsystem extends SubsystemBase{
private double mLastSimTime = 0; private double mLastSimTime = 0;
public SwerveDriveSubsystem(int pigeonId, String canBusName, double maxLinearVelMetersSecond, double maxAngularVelRadiansSecond, SwerveModule... modules){ public SwerveDriveSubsystem(int pigeonId, CANBus canBus, double maxLinearVelMetersSecond, double maxAngularVelRadiansSecond, SwerveModule... modules){
MAX_LINEAR_SPEED = maxLinearVelMetersSecond; MAX_LINEAR_SPEED = maxLinearVelMetersSecond;
MAX_ANGULAR_SPEED = maxAngularVelRadiansSecond; MAX_ANGULAR_SPEED = maxAngularVelRadiansSecond;
@ -45,7 +46,7 @@ public class SwerveDriveSubsystem extends SubsystemBase{
Arrays.stream(modules).map((m) -> m.getModuleLocation()).toArray(size -> new Translation2d[size]) Arrays.stream(modules).map((m) -> m.getModuleLocation()).toArray(size -> new Translation2d[size])
); );
gyro = new Pigeon2(pigeonId, canBusName); gyro = new Pigeon2(pigeonId, canBus);
poseEstimator = new SwerveDrivePoseEstimator3d(driveKiniematics, new Rotation3d(Rotation2d.fromRotations(getCurrentYaw().magnitude())), getModulePositions(), Pose3d.kZero); poseEstimator = new SwerveDrivePoseEstimator3d(driveKiniematics, new Rotation3d(Rotation2d.fromRotations(getCurrentYaw().magnitude())), getModulePositions(), Pose3d.kZero);
chassisSpeeds = new ChassisSpeeds(); chassisSpeeds = new ChassisSpeeds();

9
lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveModule.java
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@ -2,6 +2,7 @@ package org.fairportrobotics.frc.robolib.drivesystems.swerve;
import java.lang.reflect.Modifier; import java.lang.reflect.Modifier;
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs; import com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs;
import com.ctre.phoenix6.configs.FeedbackConfigs; import com.ctre.phoenix6.configs.FeedbackConfigs;
@ -63,24 +64,24 @@ public class SwerveModule {
double steerKA, double steerKA,
int steerEncoderId, int steerEncoderId,
double steerOffset, double steerOffset,
String canBusName, CANBus canBusObj,
Translation2d moduleLocation, Translation2d moduleLocation,
double gearRatio, double gearRatio,
double wheelDiameterInMeters, double wheelDiameterInMeters,
String moduleName String moduleName
){ ){
steerEncoder = new CANcoder(steerEncoderId, canBusName); steerEncoder = new CANcoder(steerEncoderId, canBusObj);
// steerEncoder.getAbsolutePosition().setUpdateFrequency(CAN_UPDATE_FREQUENCY); // steerEncoder.getAbsolutePosition().setUpdateFrequency(CAN_UPDATE_FREQUENCY);
// steerEncoder.optimizeBusUtilization(); // steerEncoder.optimizeBusUtilization();
steerEncoder.getConfigurator().apply(generateCanCoderConfiguration(steerOffset)); steerEncoder.getConfigurator().apply(generateCanCoderConfiguration(steerOffset));
driveMotor = new TalonFX(driveMotorId, canBusName); driveMotor = new TalonFX(driveMotorId, canBusObj);
// driveMotor.getVelocity().setUpdateFrequency(CAN_UPDATE_FREQUENCY); // driveMotor.getVelocity().setUpdateFrequency(CAN_UPDATE_FREQUENCY);
// driveMotor.optimizeBusUtilization(); // driveMotor.optimizeBusUtilization();
driveMotor.getConfigurator().apply(generateDriveTalonConfiguration(driveKP, driveKI, driveKD, driveKV, driveInverted)); driveMotor.getConfigurator().apply(generateDriveTalonConfiguration(driveKP, driveKI, driveKD, driveKV, driveInverted));
steerMotor = new TalonFX(steerMotorId, canBusName); steerMotor = new TalonFX(steerMotorId, canBusObj);
// steerMotor.optimizeBusUtilization(); // steerMotor.optimizeBusUtilization();
steerMotor.getConfigurator().apply(generateSteerTalonConfiguration(steerKP, steerKI, steerKD, steerKS, steerKV, steerKA)); steerMotor.getConfigurator().apply(generateSteerTalonConfiguration(steerKP, steerKI, steerKD, steerKS, steerKV, steerKA));
// steerMotor.setNeutralMode(NeutralModeValue.Brake); // steerMotor.setNeutralMode(NeutralModeValue.Brake);